Valmiki Ramayana Sundara Kanda Sarga 1 Shloka 133

वीर्यवान् heroic, हरिपुङ्गवः chief of monkeys, इति thus, उक्त्वा having spoken, शैलम् the mountain, पाणिना with his hand, आलभ्य gently touching, आकाशम् to the sky, आविश्य ascended, प्रहसन्निव with a smile on his face, जगाम departed.

Having said this, the mighty monkey gently touched the mountain with his hands before ascending to the sky with a smile on his face.